Adaptive control of nonholonomic wheeled mobile robot in presence of lateral slip and dynamic uncertainties

The purpose of this paper is to display an adaptive non-linear control approach based on backstepping for trajectory tracking problem of a nonholonomic wheeled mobile robot (WMR) in presence of lateral slip and some parametric uncertainties. In contrast to many of the previously developed kinematic or dynamic tracking controllers, the proposed controller can face the kinematic disturbance, i.e., lateral slip, and reject it. Also the designed controller includes the full parameters of actuator that mostly has been omitted. Realistic WMR kinematics and dynamics are introduced and the controllability of the robot is analyzed. Considering the robot as subsystems of kinematic, dynamic and drive levels, leads to design three complementary implementations the backstepping control approach. Finally, we apply an adaptive control law to compensate for parametric uncertainty in the parameter of robot´s actuators. Simulation results are presented to demonstrate the performance of the proposed controller.